I have used my Falcon 2 All Terrain tow bar on my '94 Cherokee Sport for years. Tow bar was rated at 6k# Jeep weighed behind MH was 3,900#s. Used it on two different motor homes. Had a SMI stay in play braking system installed when it was behind our Class C. The box quit sometime after we moved it to our Class A. Was not too concerned as I figured our 30k# MH did an adequate job of stopping both. Two weeks ago I slammed into an intersection drainage dip in Desert Hot Springs. I was attempting to make the light and speed limit was 55 mph. When the front of the MH hit I went to panic brake mode to slow. The intersection was less then a mile from the park I was headed. When I went around to unhook I was amazed at how wow'd the arms were. Obviously they were not going to slide into the sleeve.
Ordered, received, and installed a new Black Hawk 2, 10,000# tow bar. Since then I just purchased a 2014 Jeep Cherokee Latitude. Curb weight 4,400#. I was shopping for the GC. Thus the purchase of the heavier tow bar. GVWR according to the door on the GC was 6,500#s. Figure the curb weight was around 55. DW liked the smaller Latitude better. Didn't break my heart that it was lighter AND CHEAPER!
I am now going to get an AirForce1 system installed on both vehicles so I can tow either one with my confidence restored.
My advice is go "big or go home". You may be years of satisfaction by being close to margins and I hope you do BUT it only takes on time to 'take it to the limit'. Good luck.